EP3207400B1 - Verfahren zur geopositionierung von sich innerhalb einer geschlossenen struktur bewegenden mobilen einheiten - Google Patents
Verfahren zur geopositionierung von sich innerhalb einer geschlossenen struktur bewegenden mobilen einheiten Download PDFInfo
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- EP3207400B1 EP3207400B1 EP15783982.0A EP15783982A EP3207400B1 EP 3207400 B1 EP3207400 B1 EP 3207400B1 EP 15783982 A EP15783982 A EP 15783982A EP 3207400 B1 EP3207400 B1 EP 3207400B1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
- G01S5/0289—Relative positioning of multiple transceivers, e.g. in ad hoc networks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
Claims (11)
- Verfahren zur Positionierung einer Gruppe von untergeordneten Kommunikationseinheiten relativ zu einer koordinierenden Kommunikationseinheit (50), wobei die Gruppe von untergeordneten Kommunikationseinheiten mindestens eine erste untergeordnete Kommunikationseinheit (10), eine zweite untergeordnete Kommunikationseinheit (20), eine dritte untergeordnete Kommunikationseinheit (30) und eine vierte untergeordnete Kommunikationseinheit (40) umfasst, wobei die koordinierende Kommunikationseinheit und die untergeordneten Kommunikationseinheiten zueinander beweglich sind, wobei die koordinierende Kommunikationseinheit und die untergeordneten Kommunikationseinheiten jeweils einen UWB-Sender/Empfänger (11, 21, 31, 41, 51) und digitale drahtlose Kommunikationsmittel (12, 22, 32, 42, 52) umfassen, wobei jede untergeordnete Einheit (10, 20, 30, 40) eine innere Uhr (15, 25, 35, 45) umfasst, die mit der der koordinierenden Einheit (56) synchronisiert ist, um einen gemeinsamen Kommunikationszeitraum (60) zu definieren, wobei das Verfahren die folgenden Schritte umfasst:- während einer Vorbereitungsphase (100) Übertragung einer spezifischen Identifikationstabelle (19, 29, 39, 49, 59) durch die koordinierende Einheit (50) an jede untergeordnete Einheit (10, 20, 30, 40) über die digitalen drahtlosen Kommunikationsmittel (12, 22, 32, 42, 52), wobei die spezifische Identifikationstabelle (19, 29, 39, 49, 59) eine Kennung (ID10, ID20, ID30, ID40, ID50), eine UWB-Signatur (SIG10, SIG20, SIG30, SIG40, SIG50) und eine Übertragungsverzögerungsdauer (RE10, RE20, RE30, RE40) umfasst, und Übermittlung der Identifikationstabellen (19, 29, 39, 49, 59) jeder Einheit an die anderen untergeordneten Einheiten (10, 20, 30, 40) über die digitalen drahtlosen Kommunikationsmittel (12, 22, 32, 42, 52);
und während einer Betriebsphase- Senden der jeweiligen UWB-Signatur (SIG10, SIG20, SIG30, SIG40, SIG50) durch jede Einheit (10, 20, 30, 40, 50), wobei dieses Senden nach dem Ablauf der Übertragungsverzögerungsdauer (RE10, RE20, RE30, RE40) erfolgt, gerechnet ab dem Beginn (T0) des Kommunikationszeitraums (60);- Analyse der durch die anderen Einheiten (10, 20, 30, 40, 50) gesendeten UWB-Signaturen (SIG10, SIG20, SIG30, SIG40, SIG50) mittels jeder Einheit (10, 20, 30, 40, 50) und Bestimmung der Abstände (D10-20, D10-30, D10-40, D10-50, D20-10, D20-30, D20-40, D20-50, D30-10, D30-20, D30-40, D30-50, D40-10, D40-20, D40-30, D40-50, D50-10, D50-20, D50-30, D50-40), die diese Einheit (10, 20, 30, 40, 50) von jeder der anderen Einheiten (10, 20, 30, 40, 50) trennen;- Übertragung der Abstände (D10-20, D10-30, D10-40, D10-50, D20-10, D20-30, D20-40, D20-50, D30-10, D30-20, D30-40, D30-50, D40-10, D40-20, D40-30, D40-50), die diese untergeordnete Einheit (10, 20, 30, 40) von jeder der anderen Einheiten (10, 20, 30, 40, 50) trennen, an die koordinierende Einheit (50) durch jede untergeordnete Einheit (10, 20, 30, 40), wobei diese Übertragung mit Hilfe digitaler drahtloser Kommunikationsmittel (12, 22, 32, 42, 52) erfolgt;- Bestimmung der relativen Positionen der untergeordneten Einheiten (10, 20, 30, 40) durch die koordinierende Einheit (50). - Verfahren nach Anspruch 1, bei dem, da die koordinierende Einheit über Mittel für ihre Geolokalisierung in einem terrestrischen Bezugssystem verfügt, das Verfahren den zusätzlichen Schritt (122) des Bestimmens der relativen Positionen der untergeordneten Einheiten (10, 20, 30, 40) in Bezug auf ein terrestrisches Bezugssystem umfasst.
- Verfahren nach Anspruch 1, umfassend einen vorherigen Schritt (101) der Bestimmung der relativen Position einer untergeordneten Einheit (10) in Bezug auf die koordinierende Einheit (50), bei dem die untergeordnete Einheit (10) an einem Referenzpunkt (82) positioniert ist, dessen relative Position in Bezug auf die koordinierende Einheit (50) bekannt ist.
- Verfahren zur Positionierung nach Anspruch 1, bei dem der Schritt der Bestimmung der relativen Positionen der untergeordneten Einheiten (10, 20, 30, 40) durch die koordinierende Einheit (50) einen Schritt der Optimierung einer Kostenfunktion (C 1, C 2) umfasst, die einem der folgenden Ausdrücke entspricht:- xk, yk und zk die Koordinaten der Einheit k sind, deren Position in dem Bezugssystem (O, X, Y, Z), das mit der Einheit 50 verbunden ist, man zu bestimmen sucht;- dn der Abstand ist, der die Einheit k von der Einheit n trennt;- xn, yn und zn die Koordinaten der Einheit n sind, die durch den Abstand dn von der Einheit k getrennt ist;- wn ein Gewichtungskoeffizient ist, der mit der Messung der Leistung bei Empfang des aus dem Index-Knoten n stammenden Signals verbunden ist.
- Verfahren nach Anspruch 1, umfassend einen vorherigen Schritt der Bestimmung der relativen Position einer untergeordneten Einheit (10) in Bezug auf die koordinierende Einheit (50), bei dem die untergeordnete Einheit (10) ortsfest bleibt, wobei sich die koordinierende Einheit (50) um eine Zone bewegt, in der sich die untergeordnete Einheit (10) befindet, und die Position der untergeordneten Einheit durch Triangulation mittels UWB-Aussendungen bestimmt.
- Verfahren nach Anspruch 1, bei dem die Synchronisierung der inneren Uhren (15, 25, 35, 45) der untergeordneten Einheiten (10, 20, 30, 40) mit Hilfe periodischer Sendung eines Synchronisationssignals (61) durch die koordinierende Einheit (50) erfolgt.
- Verfahren nach Anspruch 6, bei dem das Senden des Synchronisationssignals (61) mittels drahtloser Kommunikationsmittel (51) erfolgt.
- Verfahren nach Anspruch 6 oder 7, bei dem, da die koordinierende Einheit (50) mit einem GPS-Empfänger (53) versehen ist, die innere Uhr (56) der Haupteinheit (50) der des GPS-Empfängers (53) entspricht.
- Verfahren nach Anspruch 1, bei dem die Einheiten (10, 20, 30, 40, 50) Mittel zum Auswerten der Höhe umfassen, wobei das Verfahren den zusätzlichen Schritt des Bestimmens der Höhen der untergeordneten Einheiten (10, 20, 30, 40) relativ zur koordinierenden Einheit (50) umfasst.
- System zur relativen Positionierung, umfassend eine koordinierende Kommunikationseinheit (50) einer Gruppe von untergeordneten Kommunikationseinheiten und mindestens eine erste untergeordnete Kommunikationseinheit (10), eine zweite untergeordnete Kommunikationseinheit (20), eine dritte untergeordnete Kommunikationseinheit (30) und eine vierte untergeordnete Kommunikationseinheit (40), wobei die koordinierende Kommunikationseinheit und die untergeordneten Kommunikationseinheiten zueinander beweglich sind, wobei die koordinierende Kommunikationseinheit und die untergeordneten Kommunikationseinheiten jeweils einen UWB-Sender/Empfänger (11, 21, 31, 41, 51) und drahtlose digitale Kommunikationsmittel (12, 22, 32, 42, 52) umfassen, wobei jede untergeordnete Einheit (10, 20, 30, 40) eine innere Uhr (15, 25, 35, 45) umfasst, die mit der der koordinierenden Einheit (56) synchronisiert ist, um einen gemeinsamen Kommunikationszeitraum (60) zu definieren, wobei die Vorrichtung dadurch gekennzeichnet ist, dass sie ausgebildet ist, um das Verfahren nach Anspruch 1 durchzuführen.
- System zur Positionierung nach Anspruch 10, bei dem eine der Kommunikationseinheiten (10, 20, 30, 40, 50) einen GPS-Empfänger (13, 23, 33, 43, 53) umfasst.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1460042A FR3027409B1 (fr) | 2014-10-17 | 2014-10-17 | Procede pour la geolocalisation d'unites mobiles evoluant au sein d'une structure fermee |
PCT/EP2015/073951 WO2016059189A1 (fr) | 2014-10-17 | 2015-10-15 | Procédé pour la géolocalisation d'unités mobiles évoluant au sein d'une structure fermée |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3207400A1 EP3207400A1 (de) | 2017-08-23 |
EP3207400B1 true EP3207400B1 (de) | 2020-10-14 |
Family
ID=52684330
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15783982.0A Active EP3207400B1 (de) | 2014-10-17 | 2015-10-15 | Verfahren zur geopositionierung von sich innerhalb einer geschlossenen struktur bewegenden mobilen einheiten |
Country Status (6)
Country | Link |
---|---|
US (1) | US9829562B2 (de) |
EP (1) | EP3207400B1 (de) |
FR (1) | FR3027409B1 (de) |
IL (1) | IL251764B (de) |
RU (1) | RU2660839C1 (de) |
WO (1) | WO2016059189A1 (de) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3065142A1 (fr) * | 2017-04-06 | 2018-10-12 | Orange | Procedes et dispositifs de cartographie flottante d'un groupe de mobiles |
GB2574692A (en) * | 2018-04-23 | 2019-12-18 | Sportable Tech Ltd | Sports tracking |
US10382152B1 (en) * | 2018-06-29 | 2019-08-13 | IBT Connect R&D, LLC | Spectrum monitor system and apparatus for radio coverage testing |
CN112509240A (zh) * | 2020-11-27 | 2021-03-16 | 山东新一代信息产业技术研究院有限公司 | 一种自动校验共享单车位置的系统及方法 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
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US20040006424A1 (en) * | 2002-06-28 | 2004-01-08 | Joyce Glenn J. | Control system for tracking and targeting multiple autonomous objects |
US7091851B2 (en) * | 2002-07-02 | 2006-08-15 | Tri-Sentinel, Inc. | Geolocation system-enabled speaker-microphone accessory for radio communication devices |
PL375234A1 (en) * | 2002-08-13 | 2005-11-28 | Drs Communications Company, Llc | Method and system for determining relative positions of networked mobile communication devices |
US7536695B2 (en) * | 2003-03-28 | 2009-05-19 | Microsoft Corporation | Architecture and system for location awareness |
US20070194987A1 (en) | 2006-02-22 | 2007-08-23 | Honeywell International Inc. | Systems and methods for a high-precision time of arrival ultra-wideband positioning system |
US8214147B2 (en) * | 2007-03-21 | 2012-07-03 | Nav-Track, Inc. | Navigation unit and base station |
US7663535B2 (en) | 2007-07-25 | 2010-02-16 | Information Systems Laboratories, Inc. | System and method to position register and phase synchronize a monitoring network |
US7592956B2 (en) | 2008-02-12 | 2009-09-22 | Harris Corporation | Wireless transmitter location determining system and related methods |
KR100972081B1 (ko) * | 2008-09-24 | 2010-07-22 | 주식회사 케이티 | 무선노드의 이동성을 지원하는 위치인식 메시징 방법 |
KR20130140547A (ko) * | 2010-06-01 | 2013-12-24 | 어뎁턴스, 엘엘씨 | 실내 위치지정을 위한 시스템 및 방법 |
US8599758B1 (en) * | 2011-04-20 | 2013-12-03 | Google Inc. | Indoor localization of mobile devices |
EP2584849B1 (de) * | 2011-10-17 | 2019-02-27 | Commissariat à l'Énergie Atomique et aux Énergies Alternatives | Verfahren für eine Standortbestimmung von Knoten in einem drahtlosen Netzwerk |
US9019101B2 (en) * | 2012-12-03 | 2015-04-28 | Qualcomm Incorporated | Position location system architecture: messaging and ranging links |
US10554439B2 (en) * | 2014-05-01 | 2020-02-04 | Belkin International, Inc. | Controlling settings and attributes related to operation of devices in a network |
CN115267648A (zh) * | 2015-03-07 | 2022-11-01 | 维里蒂股份公司 | 分布式定位系统和方法以及自定位设备 |
-
2014
- 2014-10-17 FR FR1460042A patent/FR3027409B1/fr not_active Expired - Fee Related
-
2015
- 2015-10-15 WO PCT/EP2015/073951 patent/WO2016059189A1/fr active Application Filing
- 2015-10-15 EP EP15783982.0A patent/EP3207400B1/de active Active
- 2015-10-15 US US15/519,469 patent/US9829562B2/en active Active
- 2015-10-15 RU RU2017116960A patent/RU2660839C1/ru active
-
2017
- 2017-04-18 IL IL251764A patent/IL251764B/en active IP Right Grant
Non-Patent Citations (1)
Title |
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None * |
Also Published As
Publication number | Publication date |
---|---|
IL251764B (en) | 2021-01-31 |
FR3027409A1 (fr) | 2016-04-22 |
FR3027409B1 (fr) | 2021-01-08 |
RU2660839C1 (ru) | 2018-07-10 |
US9829562B2 (en) | 2017-11-28 |
EP3207400A1 (de) | 2017-08-23 |
US20170242094A1 (en) | 2017-08-24 |
IL251764A0 (en) | 2017-06-29 |
WO2016059189A1 (fr) | 2016-04-21 |
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